CUED Publications database

Periodically controlled hybrid systems verifying a controller for an autonomous vehicle

Wongpiromsarn, T and Mitra, S and Murray, RM and Lamperski, A (2009) Periodically controlled hybrid systems verifying a controller for an autonomous vehicle. In: UNSPECIFIED pp. 396-410..

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Abstract

This paper introduces Periodically Controlled Hybrid Automata (PCHA) for describing a class of hybrid control systems. In a PCHA, control actions occur roughly periodically while internal and input actions may occur in the interim changing the discrete-state or the setpoint. Based on periodicity and subtangential conditions, a new sufficient condition for verifying invariance of PCHAs is presented. This technique is used in verifying safety of the planner-controller subsystem of an autonomous ground vehicle, and in deriving geometric properties of planner generated paths that can be followed safely by the controller under environmental uncertainties.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Subjects: UNSPECIFIED
Divisions: Div F > Computational and Biological Learning
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 12:21
Last Modified: 08 Dec 2014 02:34
DOI: 10.1007/978-3-642-00602-9_28